Difference between revisions of "HS Summer2018"

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** Assigned unique ID to each XL-320 using manager GUI: 10, 20, 30, 40.  Now they all can be seen.  multi_port was not the answer -- this is how you deal with multiple USB devices, not multiple servos on one USB controller
 
** Assigned unique ID to each XL-320 using manager GUI: 10, 20, 30, 40.  Now they all can be seen.  multi_port was not the answer -- this is how you deal with multiple USB devices, not multiple servos on one USB controller
 
** Started integrating position controller example into bumbersnoot_boss  
 
** Started integrating position controller example into bumbersnoot_boss  
 +
* Wednesday
 +
** Basic velocity control of all servos in bumbersnoot_boss is working.  0-1023 maps to percent of max speed in CCW direction, 1024-2047 is same thing in CW direction.
 +
Make sure to set torque off before ending program.
 
* To do:
 
* To do:
 
** Control each Dynamixel (position, velocity) with joystick in bumbersnoot_boss
 
** Control each Dynamixel (position, velocity) with joystick in bumbersnoot_boss

Revision as of 08:58, 27 June 2018

Shortened URL of this page: goo.gl/GPG8X9

Schedule

Week 1: June 18-22 -- Introduction/background
Week 2: June 25-29 -- Building
  • Monday
    • ROS joystick listener node called "bumbersnoot_boss" created
    • Changed Jetson hostname to bumbersnoot
    • Verified that new, long M2.5 screws fit into XL-320 servo horn
    • Ordered micro-USB hub and correct power+data SATA cable for SSD (arrives Wednesday)
    • Got Dynamixel XL-320 to move! Power switch was in wrong position? Should be to LEFT as you look at switch end of board. Got GUI and position control from here working; velocity control still no go
  • Tuesday
    • Figured out mapping of joystick buttons to their indices into buttons array
    • Made some plans about modes and capabilities of training/testing program (written on whiteboard)
    • Started integrating Dynamixel includes and package depends into listener program. Now callback is executed when dynamixel/XL message arrives.
    • Assigned unique ID to each XL-320 using manager GUI: 10, 20, 30, 40. Now they all can be seen. multi_port was not the answer -- this is how you deal with multiple USB devices, not multiple servos on one USB controller
    • Started integrating position controller example into bumbersnoot_boss
  • Wednesday
    • Basic velocity control of all servos in bumbersnoot_boss is working. 0-1023 maps to percent of max speed in CCW direction, 1024-2047 is same thing in CW direction. 
Make sure to set torque off before ending program.
  • To do:
    • Control each Dynamixel (position, velocity) with joystick in bumbersnoot_boss
    • Logs with timestamps, directory creation
    • Integrate RealSense capture code into bumbersnoot_boss
    • Add SSD for mass storage
    • Can micro-USB port be used for keyboard/mouse? Or powered USB hub to allow camera along with keyboard/mouse?
Week 3: July 2-6 -- Building
  • To do:
    • Imitation learning test from tripod-mounted camera
    • Rough chassis assembled
    • Camera on robot
    • Ad hoc wifi to connect to Jetson. From phone...but Android does not support? Wi Fi direct? [1]. Video streaming?
    • Jetson powered by battery: [2], [3]. Should definitely try the ones left over from DRC
Week 4: July 9-13 -- Building
Week 5: July 16-20 -- Teaching/learning
Week 6: July 23-27-- Teaching/learning
Week 7: July 30-August 3 -- Write-up and presentation prep

Miscellaneous topics

Parts

On hand

  • Jetson TX2 dev kit
  • RealSense D435 depth camera
  • 4-port USB hub
  • Robotis
    • 5 x XL-320 servo
    • Dream 2 kit (includes small rubber wheels)
    • 2 x Li-ion battery LB-041, 2 x charger LBB-041
    • 3 x Li-ion battery LB-040 (one more back-ordered), 2 x charger LBB-040
    • 2 x OpenCM9.04C controller board
  • Monitor, HDMI cable

Needed

  • Jetson
    • SSD drive connector, mini-USB hub (arriving 6/26)
    • Battery
    • Enclosure
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